Guidance instruction correction method and device for resisting large maneuvering target and storage medium

Abstract

The embodiment of the invention discloses a guidance instruction correction method and device for an anti-large maneuvering target and a storage medium. The guidance instruction correction method for the anti-large maneuvering target comprises the steps that the maneuvering acceleration of the target is obtained, and a missile-target relative kinematics model is established; obtaining a missile acceleration instruction based on an optimal feedback solution obtained by the optimal feedback method; in combination with a guidance control loop in the missile-target relative kinematics model, performing frequency domain analysis to determine and obtain instruction correction parameters, and in combination with the missile acceleration instruction, obtaining missile acceleration; a feedforward unit and a feedback unit are introduced into the guidance control loop, and a new missile acceleration instruction is obtained by combining an advanced link and a proportional link. The problems that in the prior art, a missile guidance method is high in sensitivity to residual flight time estimation errors, and time delay of a transfer function between needed overload and actual overload is obvious are solved.

Description

Technical Field

[0001] The present application relates to the field of missile guidance control technology, and in particular to a guidance instruction correction method, device and storage medium for resisting highly maneuverable targets. Background Art

[0002] Proportional guidance laws are widely used to combat non-maneuvering targets. When the target is maneuvering, it is necessary to introduce an extended term of the target acceleration, such as extended proportional guidance. If there is a significant time delay between the required overload and the practical overload (relative to the terminal time), the extended proportional guidance will produce a large miss. In order to compensate for this, one method is to use the minimum energy guidance law (MEL). The guidance law obtained in this way overcomes the time delay problem well, but it is strongly dependent on the time constant and the remaining flight time. Summary of the invention

[0003] The purpose of the present application is to provide a guidance instruction correction method, device and storage medium for resisting large maneuvering targets, so as to solve the problem that the missile guidance method in the prior art is highly sensitive to the remaining flight time estimation error and the time delay of the transfer function between the required overload and the actual overload is more obvious.

[0004] To achieve the above-mentioned purpose, an embodiment of the present application provides a guidance instruction correction method for resisting large maneuvering targets, comprising the following steps: obtaining the maneuvering acceleration of the target and establishing a relative kinematic model of the projectile and the target;

[0005] Based on the optimal feedback solution obtained by the optimal feedback method, the missile acceleration command is obtained;

[0006] Combined with the guidance control loop in the missile-target relative kinematics model, frequency domain analysis is performed to determine and obtain command correction parameters, and combined with the missile acceleration command, the missile acceleration is obtained;

[0007] A feedforward and feedback unit is introduced into the guidance control loop, and a leading link is combined with a proportional link to obtain a new missile acceleration instruction.

[0008] Optionally, the establishing of the projectile-target relative kinematics model specifically includes:

[0009] The filter and seeker dynamics model are expressed as the following transfer function:

[0010]

[0011] Among them, τ2 is the filter time constant, G1(s) represents the transfer function of the filter and the seeker dynamics model, and s is a complex variable;

[0012] The dynamics of the entire missile body is equivalent to a first-order lag link:

[0013]

[0014] Among them, a c represents the missile acceleration command, a M represents the missile acceleration, T g represents the missile guidance dynamics time constant, and G2(s) represents the transfer function of the missile body dynamics.

[0015] Optionally, obtaining the missile acceleration instruction based on the optimal feedback solution obtained by the optimal feedback method specifically includes:

[0016] Using the formula:

[0017]

[0018] The missile acceleration command is obtained, where T is the time constant, x1, x2 and x3 are the relative distance between the missile and the target, the relative velocity and the normal acceleration of the missile respectively, the coefficient a measures the miss distance and is always a positive number, the coefficients b and c measure the terminal velocity and acceleration respectively, e is a natural constant, γ is a weight factor and takes a value of 12, S is the optimal feedback solution, and t go is the remaining flight time, h = t go / T.

[0019] Optionally, a feedforward signal G4(D)a is included c and the feedback signal G3(D)(a c -a M ) of the new missile acceleration command a A for:

[0020] a A =G4(D)a c +G3(D)(a c -a M ),

[0021] Where D is the differential operator, and the transfer functions G3(s) and G4(s) show the properties of the feedforward and feedback channels, respectively.

[0022] Optionally, it also includes:

[0023] Obtain the transfer function W representing the input-output relationship between the missile acceleration command and the missile acceleration Σ (s):

[0024]

[0025] Among them, G4(0)=1.

[0026] Optionally, when the input is a target acceleration harmonic signal, the frequency of the harmonic signal is ω. For a sinusoidal maneuvering target, the miss distance is estimated by measuring the steady-state component, and the method is:

[0027]

[0028] Among them, P(t F ,iω) is t F Target acceleration at time a T The frequency response that causes the miss distance, N is the effective navigation ratio, i is the imaginary unit, and σ is the independent variable of the integration;

[0029]

[0030] When the input is a sinusoidal signal:

[0031]

[0032] in, for The absolute value of .

[0033] Optionally, the feedforward and feedback unit is selected as:

[0034]

[0035] G4(s)=k2,

[0036] Among them, τ 10 , τ 20 and k1 are both constants, μ=1 or 0, k2=1 or 0.

[0037] To achieve the above-mentioned purpose, the present application also provides a guidance instruction correction device for resisting large maneuvering targets, comprising: a memory; and

[0038] A processor connected to the memory, the processor being configured to execute the steps of the method as described above.

[0039] To achieve the above objectives, the present application also provides a computer storage medium on which a computer program is stored, wherein the computer program implements the steps of the above method when executed by a machine.

[0040] The embodiments of the present application have the following advantages:

[0041] The embodiment of the present application provides a guidance instruction correction method for resisting large maneuvering targets, including: obtaining target maneuvering acceleration and establishing a missile-target relative kinematic model; obtaining a missile acceleration instruction based on an optimal feedback solution obtained by an optimal feedback method; combining a guidance control loop in the missile-target relative kinematic model, performing frequency domain analysis to determine and obtain instruction correction parameters, and combining the missile acceleration instruction to obtain missile acceleration; introducing a feedforward and feedback unit into the guidance control loop, combining a lead link with a proportional link, and obtaining a new missile acceleration instruction.

[0042] Through the above method, a guidance command correction method for resisting large maneuvering targets is proposed. Based on the relative motion equation of the missile and the target, the state space equation is established, and the optimal control theory is used to consider reducing the sensitivity to the remaining flight time estimation error in the performance index. At the same time, the command correction link is introduced to compensate for the time delay of the transfer function between the required overload and the actual overload. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings described below are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0044] Figure 1 A flow chart of a guidance instruction correction method for resisting large maneuvering targets provided by at least one embodiment of the present application;

[0045] Figure 2 A schematic diagram of a guidance control loop of a guidance instruction correction method for resisting a large maneuvering target provided by at least one embodiment of the present application;

[0046] Figure 3 A schematic diagram of a guidance control loop for introducing instruction correction in a guidance instruction correction method for resisting large maneuvering targets provided by at least one embodiment of the present application;

[0047] Figure 4 A schematic diagram of the real part of the frequency response of a guidance instruction correction method for resisting large maneuvering targets provided by at least one embodiment of the present application;

[0048] Figure 5 A schematic diagram of a step response of a guidance instruction correction method for resisting a large maneuvering target provided by at least one embodiment of the present application;

[0049] Figure 6A schematic diagram comparing the peak miss amount of an optimal guidance law and a correction guidance algorithm of a guidance instruction correction method for resisting a large maneuvering target provided by at least one embodiment of the present application;

[0050] Figure 7 A schematic diagram of a curve showing a variation of the miss distance caused by target maneuvering with terminal guidance time in a guidance instruction correction method for resisting large maneuvering targets provided by at least one embodiment of the present application;

[0051] Figure 8 A schematic diagram of the miss distance of a guidance instruction correction method for resisting a large maneuvering target provided by at least one embodiment of the present application;

[0052] Fig. 9 A schematic diagram of the maximum required overload of a guidance instruction correction method for resisting a large maneuvering target provided by at least one embodiment of the present application;

[0053] Fig.10 A module block diagram of a guidance instruction correction device for resisting large maneuvering targets provided in at least one embodiment of the present application. DETAILED DESCRIPTION

[0054] The following is a description of the implementation of the present application by specific specific embodiments. People familiar with the technology can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0055] It should be noted that the steps in the claims and description of the present application may be executed substantially in parallel or in reverse order under appropriate circumstances, depending on the functions involved.

[0056] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0057] An embodiment of the present application provides a guidance instruction correction method for resisting a large maneuvering target, referring to Figure 1 , Figure 1 A flowchart of a method for correcting guidance instructions for resisting highly maneuverable targets is provided in at least one embodiment of the present application. It should be understood that the method may also include additional boxes not shown and / or the boxes shown may be omitted, and the scope of the present application is not limited in this respect.

[0058] In step 101, the target maneuvering acceleration is obtained and a relative kinematic model between the projectile and the target is established.

[0059] Specifically, the following assumptions are adopted:

[0060] 1) Consider the relative motion between the projectile and the target in the plane;

[0061] 2) The missile model is a first-order system, and the target directly controls its lateral acceleration;

[0062] 3) The missile is more maneuverable than the target;

[0063] 4) The target is in a highly maneuverable state.

[0064] The filter and seeker dynamics model are expressed as the following transfer function:

[0065]

[0066] Among them, τ2 is the filter time constant, G1(s) represents the transfer function of the filter and the seeker dynamics model, and s is a complex variable;

[0067] The dynamics of the entire missile body is equivalent to a first-order lag link:

[0068]

[0069] Among them, a c represents the missile acceleration command, a M represents the missile acceleration, T g represents the missile guidance dynamics time constant, and G2(s) represents the transfer function of the missile body dynamics.

[0070] Under these assumptions, the state equation of the projectile-target system is as follows:

[0071]

[0072] Where x1, x2 and x3 are the relative distance between the missile and the target, the relative velocity and the normal acceleration of the missile respectively, u is the missile command acceleration, and ω is the target acceleration.

[0073] The minimax problem is:

[0074]

[0075] The coefficient a measures the miss distance and is always positive. The coefficients b and c measure the terminal velocity and acceleration respectively and are not negligible. The former is used to obtain the required reduction in sensitivity to the remaining time error, while the latter is used to obtain the terminal acceleration. γ makes the target maneuver unfavorable and γ>1.

[0076] The guidance law design is performed through the steps in the following embodiments.

[0077] At step 102, based on the optimal feedback solution obtained by the optimal feedback method, a missile acceleration instruction is obtained.

[0078] Specifically, the steps of the optimal feedback method include:

[0079] The Riccati differential equation for optimal control is as follows:

[0080]

[0081] The terminal conditions are:

[0082]

[0083] The optimal strategy is of the form:

[0084]

[0085] Let S ≡ P -1 , and define:

[0086]

[0087] therefore:

[0088]

[0089] and

[0090]

[0091] Formula (5) can be clearly expressed as:

[0092]

[0093] Since the equation of S6 is independent of the others, the solution of S6 can be easily obtained:

[0094] where h = t go / T,t go =t f -t. Now we can solve S5,...S1 successively (the derivation process is omitted).

[0095] The following results can be obtained:

[0096]

[0097] The feedback gain can be obtained from S and equation (4). Because the result is too complicated, this section is best solved numerically rather than symbolically.

[0098] By finding the optimal feedback solution, we can get the missile acceleration command a. c , combined with the guidance control loop, the frequency domain analysis determines the command correction parameters, and the missile acceleration a can be solved M .

[0099] At step 103, in combination with the guidance control loop in the missile-target relative kinematics model, a frequency domain analysis is performed to determine and obtain the command correction parameters, and in combination with the missile acceleration command, the missile acceleration is obtained.

[0100] Specifically, the method of adding instruction correction includes:

[0101] At this time, the guidance law

[0102]

[0103] Where T is the time constant, x1, x2 and x3 are the relative distance between the missile and the target, the relative velocity and the normal acceleration of the missile respectively, the coefficient a measures the miss distance and is always positive, the coefficients b and c measure the terminal velocity and acceleration respectively, e is a natural constant, γ is a weight factor and its value is 12, S is the optimal feedback solution, t go is the remaining flight time, h = t go / T. S is obtained by substituting the initial conditions a = 10000, b = 1000, c = 1000, and γ = 12 into equations (8) to (13).

[0104] Still write the main relationship:

[0105]

[0106] Where Y T (s) is the target vertical position y T The Laplace transform of (t), Y(t F ,s) is y(t F ) is the Laplace transform of .

[0107] At step 104, a feedforward and feedback unit is introduced into the guidance control loop, and a lead link is combined with a proportional link to obtain a new missile acceleration instruction.

[0108] Specifically, by referring to the guidance loop model with command correction introduced, and combining the missile command acceleration a obtained previously C The missile's acceleration a can be calculated M Consider introducing the feedforward and feedback units into the loop, and adopt the method of combining the lead link with the proportional link to improve the dynamic performance of the system and compensate for the delay in the control system. Here, a feedforward signal G4(D)a c and the feedback signal G3(D)(a c -a M ) of the new missile acceleration command a A as follows:

[0109] a A=G4(D)a c +G3(D)(a c -a M ) (16)

[0110] Where D is the differential operator, and the transfer functions G3(s) and G4(s) show the properties of the feedforward and feedback channels, respectively.

[0111] In some embodiments, the transfer function W Σ (s) shows a c and a M The input and output relationship is expressed as follows:

[0112]

[0113] In the formula, G4(0)=1 (essentially W Σ (0)=1).

[0114] Transform the problem of designing a new guidance algorithm into the problem of designing a transfer function W Σ (s) problem (the transfer functions of the feedforward and feedback channels G3(s) and G4(s)). Compared with this problem, the proposed transfer function will produce less miss-target amount and its transient response can meet the requirements of the design indicators.

[0115] In some embodiments, according to formula (17), when the input is a target acceleration harmonic signal, the frequency of the harmonic signal is ω. For a sinusoidal maneuvering target, the miss distance is estimated by measuring the steady-state component, and the method is:

[0116]

[0117] Where P(t F ,iω) is t F Target acceleration at time a T The frequency response that causes the miss distance, N is the effective navigation ratio, i is the imaginary unit, and σ is the independent variable of the integration.

[0118]

[0119] When the input is a sinusoidal signal, the steady-state component in equation (20) is calculated. The peak miss distance is the amplitude of the steady-state component.

[0120] Integrating equation (15) can be expressed as follows:

[0121]

[0122] because The absolute value of analyze The following formula is obtained:

[0123]

[0124] So we have:

[0125]

[0126] It can be deduced that if equation (18) exists and satisfies Then the peak value of the miss amount obtained by equation (16) will be smaller than that of the original guidance law.

[0127] At the same time, because The denominator of the integral is positive if ReW Σ (iω)>ReW(iω), then the previous formula is naturally valid.

[0128] Both of the above cases are suitable for the steady-state model. Because the transient response of the system is related to the frequency response, for short interception time, assuming that the new guidance law meets the above two conditions, the miss amount can be reduced. Based on the above inference, a sufficiently simple control structure model will be used here to demonstrate this method. In order to make the new guidance algorithm convenient to use in practice, it is necessary to consider both the transient response and the frequency response.

[0129] In some embodiments, the feedforward and feedback unit is selected as:

[0130]

[0131] G4(s)=k2 (23)

[0132] Among them, τ 10 , τ 20 and k1 are both constants, μ=1 or 0, k2=1 or 0.

[0133] Based on equation (17), and G1(s) = s, the transfer function W Σ (s) is:

[0134]

[0135] In this way, the condition can be formally set to determine W Σ The mathematical programming problem of unknown parameters in (iω) is accompanied by the following conditions: W Σ The poles of (iω) need to satisfy certain transient responses. According to control theory, increasing the gain k1 can reduce the steady-state error e=a C -a M .make G3(s) is set to a parameter τ 10 With τ 20 The advanced network can make ReW ΣThe more (iω) increases, the more complicated the guidance form becomes.

[0136] When setting specific parameters, comprehensive consideration should be given to aspects such as stability, rapid response capability, and guidance accuracy (i.e., miss distance), so as to improve the guidance performance without causing significant adverse effects on the guidance loop.

[0137] In some embodiments, the method further includes: given a hypothesis, performing verification, specifically including:

[0138] Initial hypothesis: Figure 3 In the missile guidance model shown, the initial condition of the flight control system is set to zero and the approach speed is a constant. G1(s) = 1 and G2(s)(T g =0.5). The interception time is 10 seconds. Assume that the target maneuvers with a step overload of 9g and the missile tracking speed is 300m / s.

[0139] In the frequency response of W(iω), the system has good dynamic performance and sufficient stable gain. For ω≥6.3rad / s, W(iω)<<1 and ReW(iω)<0, so the calibration range should be within the frequency range of ω∈[0,6.3].

[0140] First, consider the case where G3(s) = k1. Analyzing equation (27), by selecting an appropriate parameter k1, such as k1 = 3, e = a can be significantly reduced. c -a M (Make a c Approaching a M ). Σ There are two ways to realize (iω): k1 = 3, k2 = 0 and k2 = 1. In the first case, W Σ The gain of (iω) is equal to 3 / 4, the correction system W Σ (iω) Compared with the original system, the dynamic characteristics are better and the two required conditions can be met. Frequency response real part reference Figure 4 , step response reference Figure 5 .

[0141] refer to Figure 6 , for the guidance system with optimal guidance law and correction guidance algorithm, let a Tc =9gsin1.31t, by comparing the peak miss amount, the following guidance law can be derived:

[0142]

[0143] or:

[0144]

[0145] refer to Figure 7, simulate the miss distance caused by target maneuvering, Figure 7 The simulation results show that the proposed instruction correction algorithm significantly reduces the miss distance, which is consistent with the conclusion of theoretical analysis. Compared with the optimal guidance algorithm, the correction guidance algorithm proposed in this paper has obvious advantages in performance, which can enhance the rapid response capability of the guidance system and reduce delay. The algorithm structure is simple and clear, and has certain application prospects in engineering practice.

[0146] Through the above method, the correction link is introduced to improve the rapidity of the guidance loop and reduce the delay, so as to achieve the purpose of improving the guidance accuracy of the system. Based on the relative motion equation of the missile and the target, the state space equation is established, and the optimal control theory is used to consider reducing the sensitivity to the error of the remaining flight time estimation in the performance index. At the same time, the command correction link is introduced to compensate for the time delay of the transfer function between the required overload and the actual overload.

[0147] The instruction correction algorithm proposed in this application significantly reduces the miss distance, which is consistent with the conclusion of theoretical analysis; compared with the optimal guidance algorithm, the correction guidance algorithm proposed in this paper has obvious advantages in performance, which can enhance the rapid response capability of the guidance system and reduce delay. The algorithm structure is simple and clear, and has certain application prospects in engineering practice.

[0148] An example is given to illustrate the superiority of the guidance algorithm in reducing the sensitivity of the remaining flight time error. The simulation results are classified according to the error source (i.e., target step maneuver, sinusoidal maneuver, heading error, etc.). The most significant ones are the optimal correction guidance algorithm, the proportional correction guidance algorithm, and the MELN (minimum energy without target acceleration compensation) guidance algorithm, all of which do not use target acceleration measurement. The minimum energy guidance algorithm (MEL) mentioned in the introduction, which uses target acceleration measurement, is included in the figure for comparison and to emphasize that acceleration measurement can improve guidance performance. Assume that the target maneuvers with a step overload of 9 g and the missile tracking speed is 300m / s.

[0149] In MEL:

[0150]

[0151] In MELN, target acceleration observations are not required, namely:

[0152]

[0153] refer to Figure 8, when the target misses with a 9g step maneuver, the optimal correction is significantly less sensitive to the remaining flight time estimation error than the MELN because its miss value is much smaller. The proportional correction is completely insensitive to the remaining time estimation error, showing that its miss amount is even smaller than the optimal correction miss amount. Therefore, at first glance, it seems that if the overload measurement value is unknown, the proportional correction is the best choice.

[0154] refer to Fig. 9 , the comparison of maximum overloads shows that proportional correction will require an overload twice as large as optimal correction. The required overload of MELN is almost as large as proportional correction, but its miss amount is quite bad. Therefore, if both miss amount and missile maneuverability are considered at the same time, and the overload measurement value of the target is unknown, optimal correction is the best choice.

[0155] Fig.10 A module block diagram of a guidance instruction correction device for resisting large maneuvering targets provided in at least one embodiment of the present application. The device includes:

[0156] A memory 201; and a processor 202 connected to the memory 201, wherein the processor 202 is configured to: obtain the target maneuvering acceleration and establish a relative kinematic model between the projectile and the target;

[0157] Based on the optimal feedback solution obtained by the optimal feedback method, the missile acceleration command is obtained;

[0158] Combined with the guidance control loop in the missile-target relative kinematics model, frequency domain analysis is performed to determine and obtain command correction parameters, and combined with the missile acceleration command, the missile acceleration is obtained;

[0159] A feedforward and feedback unit is introduced into the guidance control loop, and a leading link is combined with a proportional link to obtain a new missile acceleration instruction.

[0160] In some embodiments, the processor 202 is further configured to: establish the projectile-target relative kinematics model, specifically including:

[0161] The filter and seeker dynamics model are expressed as the following transfer function:

[0162]

[0163] Among them, τ2 is the filter time constant, G1(s) represents the transfer function of the filter and the seeker dynamics model, and s is a complex variable.

[0164] The dynamics of the entire missile body is equivalent to a first-order lag link:

[0165]

[0166] Among them, a c represents the missile acceleration command, a M represents the missile acceleration, s is a complex variable, T g represents the missile guidance dynamics time constant, and G2(s) represents the transfer function of the missile body dynamics.

[0167] In some embodiments, the processor 202 is further configured to: obtain the missile acceleration instruction based on the optimal feedback solution obtained by the optimal feedback method, specifically including:

[0168] Using the formula:

[0169]

[0170] The missile acceleration command is obtained, where T is the time constant, x1, x2 and x3 are the relative distance between the missile and the target, the relative velocity and the normal acceleration of the missile respectively, the coefficient a measures the miss distance and is always a positive number, the coefficients b and c measure the terminal velocity and acceleration respectively, e is a natural constant, γ is a weight factor and takes a value of 12, S is the optimal feedback solution, and t go The remaining flight time,

[0171] In some embodiments, the processor 202 is further configured to: include a feedforward signal G4(D)a c and the feedback signal G3(D)(a c -a M ) of the new missile acceleration command a A for:

[0172] a A =G4(D)a c +G3(D)(a c -a M ),

[0173] Where D is the differential operator, and the transfer functions G3(s) and G4(s) show the properties of the feedforward and feedback channels, respectively.

[0174] In some embodiments, the processor 202 is further configured to:

[0175] Obtain the transfer function W representing the input-output relationship between the missile acceleration command and the missile acceleration Σ (s):

[0176]

[0177] Among them, G4(0)=1.

[0178] In some embodiments, the processor 202 is further configured to: when the input is a target acceleration harmonic signal, the frequency of the harmonic signal is ω, and for a sinusoidal maneuvering target, the miss distance is estimated by measuring the steady-state component, and the method is:

[0179]

[0180] Among them, P(t F ,iω) is t F Target acceleration at time a T The frequency response that causes the miss distance, N is the effective navigation ratio, i is the imaginary unit, and σ is the independent variable of the integration.

[0181]

[0182] When the input is a sinusoidal signal:

[0183]

[0184] in, for The absolute value of .

[0185] In some embodiments, the processor 202 is further configured to: the feedforward and feedback unit is selected as:

[0186]

[0187] G4(s)=k2,

[0188] Among them, τ 10 , τ 20 and k1 are both constants, μ=1 or 0, k2=1 or 0.

[0189] The specific implementation method is referred to the aforementioned method embodiment and will not be described in detail here.

[0190] The present application may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present application.

[0191] Computer readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof. The computer readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (for example, a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0192] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0193] The computer program instructions for performing the operation of the present application can be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on a user's computer, partially on a user's computer, executed as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of a computer-readable program instruction to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit can execute a computer-readable program instruction, thereby realizing various aspects of the present application.

[0194] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0195] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0196] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0197] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, depending on the function involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a dedicated hardware-based system that performs the function or action of the specification, or can be realized by a combination of special-purpose hardware and computer instructions.

[0198] Note that, unless otherwise directly stated, all features disclosed in this specification (including any attached claims, abstracts and drawings) may be replaced by alternative features for achieving the same, equivalent or similar purposes. Therefore, unless otherwise explicitly stated, each feature disclosed is only an example of a group of equivalent or similar features. Where used, further, preferably, further and more preferably are simple beginnings for elaborating another embodiment based on the aforementioned embodiment, and the content of the further, preferably, further or more preferably followed by the combination with the aforementioned embodiment constitutes a complete construction of another embodiment. Several further, preferably, further or more preferably settings following the same embodiment can be arbitrarily combined to form another embodiment.

[0199] Although the present application has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application all fall within the scope of protection claimed in the present application.

Claims

1. A guidance instruction correction method for resisting large maneuvering targets, characterized in that: The following steps are involved: Obtain the target maneuvering acceleration and establish the relative kinematic model of the projectile and target; Based on the optimal feedback solution obtained by the optimal feedback method, the missile acceleration command is obtained; Combined with the guidance control loop in the missile-target relative kinematics model, frequency domain analysis is performed to determine and obtain command correction parameters, and combined with the missile acceleration command, the missile acceleration is obtained; A feedforward and feedback unit is introduced into the guidance control loop, and a leading link is combined with a proportional link to obtain a new missile acceleration instruction.

2. The method for correcting guidance instructions for resisting large maneuvering targets according to claim 1, characterized in that: The establishment of the projectile-target relative kinematic model specifically includes: The filter and seeker dynamics model are expressed as the following transfer function: Among them, τ2 is the filter time constant, G1(s) represents the transfer function of the filter and the seeker dynamics model, and s is a complex variable; The dynamics of the entire missile body is equivalent to a first-order lag link: Among them, a c represents the missile acceleration command, a M represents the missile acceleration, T g represents the missile guidance dynamics time constant, and G2(s) represents the transfer function of the missile body dynamics.

3. The guidance instruction correction method for resisting large maneuvering targets according to claim 2 is characterized in that: The optimal feedback solution obtained based on the optimal feedback method obtains the missile acceleration instruction, which specifically includes: Using the formula: The missile acceleration command is obtained, where T is the time constant, x1, x2 and x3 are the relative distance between the missile and the target, the relative velocity and the normal acceleration of the missile respectively, the coefficient a measures the miss distance and is always a positive number, the coefficients b and c measure the terminal velocity and acceleration respectively, e is a natural constant, γ is a weight factor and takes a value of 12, S is the optimal feedback solution, and t go is the remaining flight time, h = t go / T.

4. The method for correcting guidance instructions for resisting large maneuvering targets according to claim 3, characterized in that: Contains feedforward signal G4(D)a c and the feedback signal G3(D)(a c -a M ) of the new missile acceleration command a A for: a A =G4(D)a c +G3(D)(a) c -a M ), Where D is the differential operator, and the transfer functions G3(s) and G4(s) show the properties of the feedforward and feedback channels, respectively.

5. The method for correcting guidance instructions for resisting large maneuvering targets according to claim 4, characterized in that: Also includes: Obtain the transfer function W representing the input-output relationship between the missile acceleration command and the missile acceleration Σ (s): Among them, G4(0)=1.

6. The method for correcting guidance instructions for resisting large maneuvering targets according to claim 5, characterized in that: When the input is a harmonic signal of target acceleration, the frequency of the harmonic signal is ω. For a sinusoidal maneuvering target, the miss distance is estimated by measuring the steady-state component, and the method is: Among them, P(t F ,iω) is t F Target acceleration at time a T The frequency response that causes the miss distance, N is the effective navigation ratio, i is the imaginary unit, and σ is the independent variable of the integration; When the input is a sinusoidal signal: in, for The absolute value of .

7. The method for correcting guidance instructions for resisting large maneuvering targets according to claim 5, characterized in that: The feedforward and feedback units are selected as follows: G4(s)=k2, Among them, τ 10 , τ 20 and k1 are both constants, μ=1 or 0, k2=1 or 0.

8. A guidance instruction correction device for resisting large maneuvering targets, characterized in that: include: Memory; as well as A processor connected to the memory, the processor being configured to perform the steps of the method according to any one of claims 1 to 7.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a machine, the steps of the method according to any one of claims 1 to 7 are implemented.

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